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1. Multi-Object Search using Object-Oriented POMDPs

   https://doi.org/10.1109/ICRA.2019.8793888  

   Wandzel, Arthur; Oh, Yoonseon; Fishman, Michael; Kumar, Nishanth; Wong, Lawson L.S.; Tellex, Stefanie (May 2019, IEEE International Conference on Robotics and Automation (ICRA))
2. Multi-Object Search using Object-Oriented POMDPs

   Arthur Wandzel, Yoonseon Oh (January 2019, IEEE International Conference on Robotics and Automation)

   Abstract— A core capability of robots is to reason about mul- tiple objects under uncertainty. Partially Observable Markov Decision Processes (POMDPs) provide a means of reasoning under uncertainty for sequential decision making, but are computationally intractable in large domains. In this paper, we propose Object-Oriented POMDPs (OO-POMDPs), which represent the state and observation spaces in terms of classes and objects. The structure afforded by OO-POMDPs support a factorization of the agent’s belief into independent object distributions, which enables the size of the belief to scale linearly versus exponentially in the number of objects. We formulate a novel Multi-Object Search (MOS) task as an OO-POMDP for mobile robotics domains in which the agent must find the locations of multiple objects. Our solution exploits the structure of OO-POMDPs by featuring human language to selectively update the belief at task onset. Using this structure, we develop a new algorithm for efficiently solving OO-POMDPs: Object- Oriented Partially Observable Monte-Carlo Planning (OO- POMCP). We show that OO-POMCP with grounded language commands is sufficient for solving challenging MOS tasks both in simulation and on a physical mobile robot. 

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3. Using Generated Object Reconstructions to Study Object-based Attention

   https://doi.org/10.32470/CCN.2023.1685-0  

   Ahn, Seoyoung; Adeli, Hossein; Zelinsky, Gregory (January 2023, Proceedings of 2023 Conference on Cognitive Computational Neuroscience)
4. Multi-Object Manipulation via Object-Centric Neural Scattering Functions

   https://doi.org/10.1109/CVPR52729.2023.00871  

   Tian, Stephen; Cai, Yancheng; Yu, Hong–Xing; Zakharov, Sergey; Liu, Katherine; Gaidon, Adrien; Li, Yunzhu; Wu, Jiajun (June 2023, IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR))
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   https://doi.org/10.1109/LRA.2022.3158428  

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